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WO2019049435A1 - Machine de construction - Google Patents

Machine de construction Download PDF

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Publication number
WO2019049435A1
WO2019049435A1 PCT/JP2018/019334 JP2018019334W WO2019049435A1 WO 2019049435 A1 WO2019049435 A1 WO 2019049435A1 JP 2018019334 W JP2018019334 W JP 2018019334W WO 2019049435 A1 WO2019049435 A1 WO 2019049435A1
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WO
WIPO (PCT)
Prior art keywords
pressure
pilot
control valve
accumulator
hydraulic
Prior art date
Application number
PCT/JP2018/019334
Other languages
English (en)
Japanese (ja)
Inventor
聖二 土方
釣賀　靖貴
石川　広二
高橋　究
星野　雅俊
Original Assignee
日立建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to EP18853247.7A priority Critical patent/EP3578830B1/fr
Priority to CN201880015157.8A priority patent/CN110352304B/zh
Priority to US16/491,264 priority patent/US10995475B2/en
Priority to KR1020197025626A priority patent/KR102258694B1/ko
Publication of WO2019049435A1 publication Critical patent/WO2019049435A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/027—Installations or systems with accumulators having accumulator charging devices
    • F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2201/00—Accumulators
    • F15B2201/50—Monitoring, detection and testing means for accumulators
    • F15B2201/51—Pressure detection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/355—Pilot pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/36—Pilot pressure sensing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/61—Secondary circuits
    • F15B2211/611—Diverting circuits, e.g. for cooling or filtering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/67—Methods for controlling pilot pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • the present invention relates to, for example, a construction machine such as a hydraulic shovel, a hydraulic crane, a wheel loader and the like.
  • a conventional hydraulic shovel is provided with a direction control valve for controlling the flow rate and direction of high pressure hydraulic oil between a hydraulic source consisting of a main pump and a tank and a hydraulic cylinder.
  • the directional control valve operates with a low pilot pressure. That is, in the direction control valve, the spool is switched by the low pilot pressure.
  • pressure oil (pilot pressure) from the pilot pump is supplied to (the hydraulic pilot portion of) the direction control valve via the operating device operated by the operator.
  • the pilot pump consumes engine power (fuel) to generate a pilot pressure.
  • An object of the present invention is to provide a construction machine capable of efficiently utilizing recovered energy in a configuration in which return oil from a hydraulic cylinder is regenerated to a pilot line.
  • a construction machine comprises: a main hydraulic pump for supplying pressure oil to a main hydraulic circuit including a hydraulic actuator; a pilot hydraulic pump for supplying pressure oil to a pilot hydraulic circuit for operating the hydraulic actuator; A construction machine including a pressure accumulator for accumulating pressure oil discharged therefrom, a recovery device for recovering the pressure oil discharged from the hydraulic actuator to the pressure accumulator, and the pressure oil accumulated in the pressure accumulator.
  • FIG. 1 is a hydraulic circuit diagram of a hydraulic shovel according to a first embodiment. It is a flowchart which shows the process by the controller in FIG. It is a hydraulic circuit diagram of a hydraulic shovel by a 2nd embodiment. It is a flowchart which shows the process by the controller in FIG. It is a hydraulic circuit diagram of a hydraulic shovel by a 3rd embodiment. It is a flowchart which shows the process by the controller in FIG. It is a hydraulic circuit diagram of a hydraulic shovel by a 4th embodiment. It is a flowchart which shows the process by the controller in FIG.
  • a hydraulic shovel 1 which is a typical example of a construction machine has a crawler type lower traveling body 2 capable of self-traveling, a turning device 3 provided on the lower traveling body 2, and turning on the lower traveling body 2. It is configured to include an upper swing body 4 rotatably mounted via the device 3 and a working device 5 provided on the front side of the upper swing body 4 and performing an excavation operation and the like.
  • the lower traveling body 2 and the upper revolving superstructure 4 constitute the vehicle body of the hydraulic shovel 1.
  • the lower traveling body 2 is configured to include, for example, a crawler belt 2A and left and right traveling hydraulic motors (not shown) for traveling the hydraulic shovel 1 by driving the crawler belt 2A in a circulating manner.
  • the lower traveling body 2 together with the upper revolving superstructure 4 and the work device 5 by rotation of a traveling hydraulic motor which is a hydraulic motor based on supply of pressure oil from a main hydraulic pump 13 (see FIG. 2) described later. Run.
  • the work device 5 also called a work machine or front includes, for example, a boom 5A, an arm 5B, a bucket 5C as a work implement, a boom cylinder 5D as a hydraulic actuator (liquid pressure actuator) for driving them, an arm cylinder 5E, a bucket cylinder (Work implement cylinder) 5F is comprised.
  • the work device 5 is raised and lowered (oscillation) by extension or contraction of the cylinders 5D, 5E, 5F, which are hydraulic cylinders, based on the supply of pressure oil from the main hydraulic pump 13 (see FIG. 2) described later.
  • the hydraulic circuit relating mainly to the boom 5A is shown in order to avoid the drawing being complicated. That is, in the hydraulic circuit diagram of FIG. 2, the hydraulic circuits relating to the arm cylinder 5E, the bucket cylinder 5F, the above-described left and right traveling hydraulic motors, and the later-described turning hydraulic motor are omitted.
  • the upper swing body 4 is mounted on the lower traveling body 2 via a swing device 3 configured to include a swing bearing, a swing hydraulic motor, a reduction mechanism, and the like.
  • the upper swing body 4 operates the work device 5 on the lower traveling body 2 by rotation of a swing hydraulic motor, which is a hydraulic motor, based on supply of pressure oil from a main hydraulic pump 13 (see FIG. 2) described later.
  • Pivot with The upper swing body 4 includes a swing frame 6 as a support structure (base frame) of the upper swing body 4, a cab 7 mounted on the swing frame 6, a counterweight 8 and the like.
  • an engine 12 hydraulic pumps 13, 20, hydraulic oil tanks 14, control valve devices (only the direction control valve for boom 22 is shown in FIG. 2) and the like described later are mounted on the swing frame 6.
  • the swing frame 6 is attached to the lower traveling body 2 via the swing device 3.
  • a cab 7 whose inside is an operator's cab is provided.
  • a driver's seat (not shown) on which an operator is seated is provided.
  • an operating device for operating the hydraulic shovel 1 (only the boom lever operating device 23 is shown in FIG. 2) is provided.
  • the operating device includes, for example, left and right travel lever and pedal operating devices provided on the front side of the driver's seat, and left and right working lever operating devices provided on the left and right sides of the driver's seat, respectively. It is configured.
  • the operating device outputs a pilot signal (pilot pressure) according to the operator's operation (lever operation, pedal operation) to a control valve device composed of a plurality of direction control valves (only the boom direction control valve 22 is shown in FIG. 2) Do.
  • a control valve device composed of a plurality of direction control valves (only the boom direction control valve 22 is shown in FIG. 2) Do.
  • the operator can operate (drive) the traveling hydraulic motor, the cylinders 5D, 5E, 5F of the working device 5, and the swing hydraulic motor of the rotating device 3.
  • the boom direction control valve 22 is shown among the plurality of direction control valves constituting the control valve device. That is, in the hydraulic circuit diagram of FIG. 2, for example, the direction control valve for left travel, the direction control valve for right travel, the direction control valve for turning, the direction control valve for arm, the direction control valve for bucket, etc. are omitted.
  • the hydraulic shovel 1 includes a hydraulic circuit 11 that operates (drives) the hydraulic shovel 1 based on pressure oil supplied from the hydraulic pump 13.
  • the hydraulic circuit 11 includes a main hydraulic circuit 11A including a hydraulic actuator (for example, boom cylinder 5D), a pilot hydraulic circuit 11B for operating the hydraulic actuator (for example, boom cylinder 5D), and a recovery hydraulic pressure including an accumulator 29 described later. And a circuit 11C.
  • the hydraulic circuit 11 includes a hydraulic actuator (for example, boom cylinder 5D), an engine 12, a main hydraulic pump 13, a hydraulic oil tank 14 as a tank, a pilot hydraulic pump 20, and a control valve device (for example, boom The directional control valve 22) and the operating device (for example, the lever operating device 23 for boom) are included.
  • the hydraulic circuit 11 includes an accumulator 29 as a pressure accumulator, a recovery control valve 31 as a recovery device and a first control valve, and a main supply control valve as a main circuit supply device and a second control valve.
  • a pilot supply control valve 37 as a pilot circuit supply device and a third control valve
  • a pressure accumulation side pressure sensor 38 as a first pressure detection device
  • a controller 39 as a control device There is.
  • the main hydraulic circuit 11A of the hydraulic circuit 11 includes, in addition to the hydraulic actuator (for example, the boom cylinder 5D), the engine 12, the main hydraulic pump 13, the hydraulic fluid tank 14, and the control valve device (for example, the directional control valve 22 for boom) And a pilot check valve 19 (first pilot check valve). Further, the main hydraulic circuit 11A includes a main discharge pipeline 15, a return pipeline 16, a bottom pipeline 17, and a rod pipeline 18.
  • the hydraulic actuator for example, the boom cylinder 5D
  • the engine 12 for example, the boom cylinder 5D
  • the control valve device for example, the directional control valve 22 for boom
  • a pilot check valve 19 first pilot check valve
  • the pilot hydraulic circuit 11B of the hydraulic circuit 11 includes the engine 12, the pilot hydraulic pump 20, the hydraulic oil tank 14, the operating device (for example, the lever operating device 23 for boom), the pilot discharge pipeline 21, and the relief.
  • a valve 26, an extension side pilot line 24 as a first side pilot line, and a reduction side pilot line 25 as another side pilot line are provided.
  • the pilot hydraulic circuit 11B includes an unload valve 27 as a pilot flow rate reduction device and a check valve 28 as a check valve.
  • the direction control valve 22 extends or contracts the hydraulic cylinder 5D by switching supply and discharge of pressure oil to the hydraulic cylinder 5D between the main hydraulic pump 13 and the hydraulic cylinder 5D.
  • a switching signal (pilot pressure) based on the operation of the lever operating device 23 is supplied to the hydraulic pilot parts 22A and 22B of the direction control valve 22.
  • the direction control valve 22 is switched from the neutral position (A) to the switching positions (B) and (C).
  • the unloading valve 27 is, for example, always in the closed position.
  • the unload valve 27 switches from the closed position to the open position in response to a signal (command) from the controller 39.
  • the pilot discharge pipeline 21 and the hydraulic fluid tank 14 are connected. That is, the unload valve 27 discharges the pressure oil discharged from the pilot hydraulic pump 20 to the hydraulic oil tank 14 in response to a command (supply of power) from the controller 39.
  • the unload valve 27 constitutes a pilot flow rate reduction device capable of reducing the flow rate from the pilot hydraulic pump 20 to the pilot hydraulic circuit 11B (more specifically, the lever operating device 23 side). .
  • the controller 39 brings the unload valve 27 into the open position. That is, the controller 39 sets the second setting in which the pressure of the accumulator 29 is set lower than the first set pressure (set pressure 1) set in advance and lower than the first set pressure (set pressure 1). So that the flow rate from the pilot hydraulic pump 20 to the pilot hydraulic circuit 11B (upstream from the check valve 28 of the pilot discharge Control (Open position).
  • the set pressure 2 which is the second set pressure is set in advance so as to be a determination value that can appropriately switch the unload valve 27 from the open position to the closed position. That is, when the set pressure 2 can supply appropriate pressure oil (primary pressure) from the accumulator 29 to the lever operating device 23 and the output of the pilot hydraulic pump 20 can be appropriately reduced, the unload valve 27 is in the open position. In order to be obtained, it is previously obtained by experiment, calculation, simulation and the like.
  • the set pressure 2 can be set to a pressure slightly lower (for example, about 0.5 MPa lower) than the pressure (primary pressure) of the pilot hydraulic circuit 11B (pilot discharge pipeline 21). The control process of FIG. 3 performed by the controller 39 will be described in detail later.
  • the hydraulic shovel 1 according to the first embodiment has the above-described configuration, and its operation will be described next.
  • the hydraulic pumps 13, 20 are driven by the engine 12.
  • the pressure oil discharged from the hydraulic pumps 13 and 20 is transferred to the traveling hydraulic motor according to the lever operation and pedal operation of the traveling operation device and the operation operation device (lever operation device 23) provided in the cab 7.
  • the hydraulic fluid is discharged toward the swing hydraulic motor, the boom cylinder 5D of the working device 5, the arm cylinder 5E, and the bucket cylinder 5F.
  • the hydraulic shovel 1 can perform traveling operation by the lower traveling body 2, turning operation of the upper swing body 4, excavating work by the work device 5, and the like.
  • the lever operating device 23 when the lever operating device 23 is operated in the direction to reduce the hydraulic cylinder 5D (that is, the lowering operation for moving down the boom 5A is performed), the lever operating device 23 The pilot pressure is supplied to the hydraulic pilot unit 22B. Thereby, the directional control valve 22 is switched from the neutral position (A) to the switching position (C). In this case, the pressure oil from the main hydraulic pump 13 is supplied to the rod side oil chamber 5D5 of the hydraulic cylinder 5D via the rod side conduit 18. At this time, the pilot pressure from the lever operating device 23 is also supplied to the pilot check valve 19 and the recovery control valve 31, and the pilot check valve 19 opens the circuit and the recovery control valve 31 switches to the open position.
  • a throttle 22C is provided at the switching position (C) of the direction control valve 22.
  • the main supply control valve 34, the pilot supply control valve 37, and the unload valve 27 are controlled by the controller 39.
  • the controller 39 performs the main operation according to the pressure (ACC pressure) of the accumulator 29 detected by the pressure accumulation side pressure sensor 38 and the presence / absence of operation of the lever operating device 23 (operation lever signal) detected by the operation detection sensor 23A. It controls the opening and closing of the supply control valve 34, the pilot supply control valve 37, and the unloading valve 27.
  • the controller 39 starts the control processing (calculation processing) of FIG. 3.
  • the controller 39 determines in S1 whether or not the ACC pressure which is the pressure of the accumulator 29 is higher than the set pressure 1 which is the preset first set pressure (ACC pressure> set pressure 1).
  • the ACC pressure the pressure detected by the pressure accumulation side pressure sensor 38 can be used.
  • the ACC pressure when the ACC pressure is high, when the pressure oil of the accumulator 29 is returned to the pilot hydraulic circuit 11B (the pilot discharge pipe 21 side), the pressure loss at the pilot supply control valve 37 becomes large, and energy (pressure oil ) May not be useful. Therefore, in S1, when the ACC pressure is higher than the set pressure 1, it is judged to return to the main hydraulic circuit 11A (main discharge pipeline 15) side, and when the ACC pressure is lower than the set pressure 1 the pilot hydraulic circuit 11B It is determined to return to the (pilot discharge pipeline 21) side.
  • the set pressure 1 can be set to, for example, a pressure slightly higher (for example, about 0.5 to 1 MPa higher) than the pressure (primary pressure) of the pilot hydraulic circuit 11B (pilot discharge pipeline 21).
  • the pressure oil required for the lever operating device 23 can be secured, and the accumulator 29 can be charged (charged).
  • Accumulation (charge) of the accumulator 29 by the pressure oil of the pilot hydraulic pump 20 is performed, for example, to a pressure slightly lower than the valve opening pressure of the relief valve 26 (for example, about 0.2 MPa lower than the valve opening pressure).
  • the pressure oil can be prevented from escaping (discarding energy) from the relief valve 26.
  • the main supply control valve 34 (main circuit supply device) is provided. Therefore, not only the high-pressure hydraulic oil recovered to the accumulator 29 (pressure accumulator) through the recovery control valve 31 (recovery device) is supplied to the pilot hydraulic circuit 11B (pilot discharge line 21) but also the main hydraulic circuit It can also be supplied to 11A (main discharge pipeline 15). That is, when the pressure oil of the accumulator 29 is high pressure, it can be supplied to the high pressure main hydraulic circuit 11A (return the recovered pressure oil), and when the pressure oil of the accumulator 29 is low pressure, the low pressure pilot hydraulic circuit It can be supplied to 11 B (return the recovered pressure oil).
  • the recovery control valve 31 first control valve
  • the main supply control valve 34 second control valve
  • the pilot supply control valve 37 third control valve
  • the pressure oil discharged from the hydraulic cylinder 5D can be recovered to the accumulator 29 via the recovery control valve 31.
  • the pressure oil of the accumulator 29 can be supplied to the high pressure main hydraulic circuit 11A.
  • the pilot supply control valve 37 the pressure oil of the accumulator 29 can be supplied to the low pressure pilot hydraulic circuit 11B.
  • the controller 39 controls the main supply control valve 34 and the pilot according to the pressure (ACC pressure) of the accumulator 29 detected by the pressure accumulation side pressure sensor 38 (first pressure detection device). It controls the supply control valve 37.
  • the controller 39 controls the main supply control valve 34 (and, if necessary, the pilot supply control valve 37) when the pressure oil (ACC pressure) of the accumulator 29 detected by the pressure accumulation side pressure sensor 38 is high. Do.
  • the controller 39 controls the pilot supply control valve 37 (and the main supply control valve 34 as required) when the pressure oil (ACC pressure) of the accumulator 29 detected by the pressure accumulation side pressure sensor 38 is low. .
  • the low pressure hydraulic oil accumulated in the accumulator 29 can be supplied to the pilot hydraulic circuit 11B.
  • the controller 39 when the pressure of the accumulator 29 is lower than the first set pressure (set pressure 1) and higher than the second set pressure (set pressure 2), the controller 39 , And controls the unloading valve 27 to reduce the flow rate to the pilot hydraulic circuit 11B. Therefore, when the pressure of the accumulator 29 is lower than the first set pressure (set pressure 1) and higher than the second set pressure (set pressure 2), the output of the pilot hydraulic pump 20 is reduced. Can. Thereby, the consumption of the power (fuel) of the drive source (for example, the engine 12) of the pilot hydraulic pump 20 can be reduced.
  • the supply control valve 41 is a main circuit supply device that supplies the pressure oil accumulated in the accumulator 29 to the main hydraulic circuit 11A (main discharge pipeline 15), and the pressure oil accumulated in the accumulator 29 is pilot hydraulic circuit 11B ( A pilot circuit supply device for supplying the pilot discharge pipeline 21) is configured. That is, the supply control valve 41 has a switching position (D) as a neutral position or a blocking position, a switching position (E) as a first connection position, and a switching position (F) as a second connection position. It is the 1st direction control valve which it has.
  • the supply control valve 41 has one hydraulic pilot portion 41D.
  • the pilot pressure is supplied to the hydraulic pressure pilot portion 41 D of the supply control valve 41 via the solenoid proportional valve 42. That is, the supply control valve 41 switches the switching position (D), the switching position (E), and the switching position (E) by supplying the pilot pressure to the hydraulic pilot portion 41D via the solenoid proportional valve 42 controlled by the controller 44. It is switched to either position (F).
  • the accumulator 29 is connected to the main hydraulic circuit 11A (main discharge pipeline 15).
  • the accumulator 29 and the pilot hydraulic circuit 11B (pilot discharge line 21) are connected.
  • the accumulator 29 is shut off from the main hydraulic circuit 11A (main discharge pipe 15) and the pilot hydraulic circuit 11B (pilot discharge pipe 21).
  • the solenoid proportional valve 42 is connected to the pilot hydraulic pump 20 via a check valve 28.
  • the solenoid proportional valve 42 is also connected to the accumulator 29 when the supply control valve 41 is at the switching position (F). That is, the solenoid proportional valve 42 is connected via the branch line 43 to the downstream side (more specifically, in the middle of the pilot regeneration line 36) of the pilot discharge line 21 than the check valve 28. .
  • the control signal (current signal) from the controller 44 is input to the solenoid proportional valve 42.
  • the solenoid proportional valve 42 is connected to the controller 44.
  • the controller 44 has an input side connected to the pressure accumulation side pressure sensor 38 and the operation detection sensor 23A.
  • the output side of the controller 44 is connected to the solenoid proportional valve 42 and the unload valve 27 as a pilot flow rate reduction device.
  • the controller 44 determines whether the pressure oil accumulated in the accumulator 29 is supplied to the main hydraulic circuit 11A (main discharge line 15) or the pilot hydraulic circuit 11B (pilot discharge line 21). At the same time, the controller 44 controls the supply control valve 41 via the solenoid proportional valve 42 in accordance with the determination result.
  • the controller 44 controls the switching position of the supply control valve 41 by controlling the opening degree of the solenoid proportional valve 42 according to the pressure of the accumulator 29 detected by the pressure accumulation side pressure sensor 38. At the same time, the controller 44 controls the unload valve 27 in accordance with the pressure of the accumulator 29 detected by the pressure accumulation side pressure sensor 38.
  • the controller 44 has a memory and an arithmetic circuit (CPU) as in the controller 39 of the first embodiment described above. In the memory, a processing program for executing the processing flow shown in FIG. 5 is stored.
  • control processing of the controller 44 will be described with reference to FIG.
  • S11, S12, S15 in FIG. 5 is the same as the process of S1, S2, S5 of FIG. 3 of 1st Embodiment, the description is abbreviate
  • the recovery supply control valve 51 is constituted of, for example, a hydraulic pilot type switching valve of three ports and three positions.
  • the first port 51 ⁇ / b> A of the recovery supply control valve 51 is connected to the accumulator 29 via the pressure accumulation line 52.
  • the pressure accumulation line 52 connects the accumulator 29 and the recovery supply control valve 51.
  • the second port 51B of the recovery supply control valve 51 is connected to the main hydraulic circuit 11A (the bottom side conduit 17, that is, the bottom side oil chamber 5D4 of the hydraulic cylinder 5D) via the recovery supply conduit 53.
  • the recovery supply line 53 connects the main hydraulic circuit 11 A and the recovery supply control valve 51.
  • the third port 51 ⁇ / b> C of the recovery supply control valve 51 is connected to the pilot hydraulic circuit 11 ⁇ / b> B (pilot discharge line 21) via the pilot regeneration line 36.
  • the recovery supply control valve 51 has two hydraulic pilot parts 51D and 51E.
  • a pilot pressure is supplied to one hydraulic pressure pilot portion 51D of the recovery supply control valve 51 via the one-side solenoid proportional valve 54.
  • a pilot pressure is supplied to the other hydraulic pilot unit 51E of the recovery supply control valve 51 via the other-side solenoid proportional valve 55. That is, the recovery supply control valve 51 supplies the pilot pressure to the hydraulic pilot units 51D, 51E via the one-side proportional solenoid valve 54 and the other-side proportional solenoid valve 55 controlled by the controller 62. Thereby, the recovery supply control valve 51 is switched to any one of the neutral position (G), the switching position (H), and the switching position (I).
  • the recovery supply control valve 51 when switched to the switching position (H), connects the accumulator 29 and the main hydraulic circuit 11A (bottom side conduit 17). That is, the switching position (H) of the recovery supply control valve 51 corresponds to the third connection position connecting the hydraulic cylinder 5D (hydraulic actuator) and the accumulator 29, and constitutes a recovery device and a main circuit supply device. .
  • the recovery supply control valve 51 when the recovery supply control valve 51 is switched to the switching position (I), it connects the accumulator 29 and the pilot hydraulic circuit 11B (pilot discharge pipeline 21). That is, the switching position (I) of the recovery supply control valve 51 corresponds to a fourth connection position connecting the accumulator 29 and the pilot hydraulic circuit 11B (pilot discharge pipe 21), and constitutes a pilot circuit supply device. There is.
  • the solenoid proportional valves 54 and 55 are connected to the pilot hydraulic pump 20 via the check valve 28.
  • the solenoid proportional valves 54 and 55 are also connected to the accumulator 29 when the recovery supply control valve 51 is at the switching position (I). That is, the one-side solenoid proportional valve 54 and the other-side proportional solenoid valve 55 are downstream of the check valve 28 in the pilot discharge pipeline 21 via the one-side branch pipeline 56 and the other-side branch pipeline 57, respectively ( More specifically, it is connected to the middle of the pilot regeneration pipe 36).
  • the control signal (current signal) from the controller 62 is input to the solenoid proportional valves 54 and 55.
  • the degree of opening of the solenoid proportional valves 54 and 55 is adjusted in proportion to the current value of the control signal. For example, when a command is output from the controller 62 to the one-side solenoid proportional valve 54, a pilot pressure is supplied to the hydraulic pressure pilot portion 51D of the recovery supply control valve 51 via the one-side proportional solenoid valve 54. Thereby, the recovery supply control valve 51 is switched from the neutral position (G) to the switching position (H).
  • the pilot check valve 58 is provided in the middle of the recovery supply pipeline 53 (that is, between the connection portion of the recovery supply pipeline 53 to the bottom side pipeline 17 and the recovery supply control valve 51).
  • the pilot check valve 58 is supplied with pilot pressure via the one-side solenoid proportional valve 54.
  • the pilot check valve 58 allows the pressure oil to flow from the bottom side pipe line 17 (bottom side oil chamber 5D4 of the hydraulic cylinder 5D) toward the recovery supply control valve 51, and from the recovery supply control valve 51 side The pressure oil is prevented from flowing toward the bottom side conduit 17 side.
  • the pilot check valve 58 is on the recovery supply control valve 51 side when the pilot pressure is supplied to the pilot check valve 58 (that is, when the recovery supply control valve 51 is switched to the switching position (H)). Allow the pressure oil to flow toward the bottom side conduit 17 side.
  • the bottom pressure sensor 59 is provided in the middle of the recovery supply line 53.
  • the bottom pressure sensor 59 detects the pressure of the recovery supply pipeline 53 (the pressure of the bottom pipeline 17 corresponding to the bottom oil chamber 5D4 of the hydraulic cylinder 5D), and sends the detected pressure signal to the controller 62. Output.
  • the bottom pressure sensor 59 is connected to the controller 62 and outputs (a signal corresponding to) the detected pressure to the controller 62.
  • the extension operation side pressure sensor 60 and the reduction operation side pressure sensor 61 are connected to the controller 62.
  • the extension operation side pressure sensor 60 is provided in the middle of the extension side pilot pipeline 24.
  • the extension operation side pressure sensor 60 detects the pressure (secondary pressure) of the extension side pilot pipeline 24, that is, the pilot pressure Pu supplied to the hydraulic pilot portion 22A of the direction control valve 22, and the detected pressure A signal is output to the controller 62.
  • the pilot pressure Pu is generated when the lever operating device 23 is operated in the direction to extend the hydraulic cylinder 5D (the boom 5A is raised).
  • the reduction operation side pressure sensor 61 is provided in the middle of the reduction side pilot pipeline 25.
  • the reduction operation side pressure sensor 61 detects the pressure (secondary pressure) of the reduction side pilot pipeline 25, that is, the pilot pressure Pd supplied to the hydraulic pilot portion 22B of the direction control valve 22, and the detected pressure A signal is output to the controller 62.
  • the pilot pressure Pd is generated when the lever operating device 23 is operated in the direction to reduce the hydraulic cylinder 5D (downward operation of the boom 5A).
  • the input side of the controller 62 is connected to the pressure accumulation side pressure sensor 38, the bottom side pressure sensor 59, the extension operation side pressure sensor 60, and the reduction operation side pressure sensor 61.
  • the output side of the controller 62 is connected to the proportional solenoid valves 54 and 55 and the unloading valve 27.
  • the controller 44 responds to the pressure of the pressure accumulation side pressure sensor 38, the pressure of the bottom side pressure sensor 59, and the operation of the lever operating device 23 (the pressure of the extension operation side pressure sensor 60, the pressure of the reduction operation side pressure sensor 61).
  • the proportional valves 54, 55 are controlled.
  • the controller 44 controls the switching position of the recovery supply control valve 51.
  • the controller 62 also controls the unload valve 27.
  • the memory of the controller 62 stores a processing program for executing the processing flow shown in FIG.
  • the lever operating device 23 when the lever operating device 23 is operated in the direction to extend the hydraulic cylinder 5D (that is, the raising operation for raising the boom 5A is performed), the lever operating device 23 The hydraulic pilot portion 22A is supplied with the pilot pressure Pu. Thereby, the directional control valve 22 is switched from the neutral position (A) to the switching position (B).
  • the increased pilot pressure Pu is detected by the extension operation side pressure sensor 60, and the pressure (ACC pressure) of the accumulator 29 is detected by the pressure accumulation side pressure sensor 38, and the bottom pressure of the hydraulic cylinder 5D (BM Pressure) is detected.
  • the detected values (signals corresponding to the detected values) of these sensors 60, 38, 59 are input to the controller 62.
  • the controller 62 compares the pressure (ACC pressure) of the accumulator 29 with the bottom pressure (BM pressure) of the hydraulic cylinder 5D, and outputs a command to the solenoid proportional valve 54 when the pressure (ACC pressure) of the accumulator 29 is high. .
  • the pilot pressure is supplied to the hydraulic pilot portion 51D of the recovery supply control valve 51 and the pilot check valve 58, the recovery supply control valve 51 is switched to the switching position (H), and the pilot check valve 58 is opened. Ru.
  • the pressure oil of the accumulator 29 is supplied to the bottom side oil chamber 5D4 of the hydraulic cylinder 5D together with the pressure oil of the main hydraulic pump 13, and the hydraulic cylinder 5D is operated to extend.
  • the lever operating device 23 when the lever operating device 23 is operated in the direction to reduce the hydraulic cylinder 5D (that is, the lowering operation for moving down the boom 5A is performed), the lever operating device 23 The lowered pilot pressure Pd is supplied to the hydraulic pilot unit 22B. Thereby, the directional control valve 22 is switched from the neutral position (A) to the switching position (C).
  • the lowered pilot pressure Pd is detected by the reduction operation side pressure sensor 61, and the pressure (ACC pressure) of the accumulator 29 is detected by the pressure accumulation side pressure sensor 38, and the bottom pressure of the hydraulic cylinder 5D (BM Pressure) is detected.
  • the detected values (signals corresponding to the detected values) of these sensors 61, 38, 59 are input to the controller 62.
  • the controller 62 compares the pressure (ACC pressure) of the accumulator 29 with the bottom pressure (BM pressure) of the hydraulic cylinder 5D, and when the bottom pressure (BM pressure) of the hydraulic cylinder 5D is high, instructs the solenoid proportional valve 54 Output.
  • the pilot pressure is supplied to the hydraulic pressure pilot unit 51D of the recovery supply control valve 51, and the recovery supply control valve 51 is switched to the switching position (H).
  • the pressure oil in the bottom side oil chamber 5D4 of the hydraulic cylinder 5D flows into the accumulator 29, the pressure oil is recovered by the accumulator 29, and the hydraulic cylinder 5D is contracted.
  • control processing of the controller 62 will be described with reference to FIG. Note that, for example, while the controller 62 is energized, the control process of FIG. 7 is repeatedly performed in a predetermined control cycle.
  • the controller 62 starts the control processing (calculation processing) of FIG. 7.
  • the controller 62 determines whether or not the reduction pilot pressure Pd has been detected by the reduction operation side pressure sensor 61. If “YES” is determined in S21, that is, if it is determined that the lowered pilot pressure Pd has been detected, then the process proceeds to S22. If it is determined in S21 that "NO", that is, if the lowered pilot pressure Pd is not detected, the process proceeds to S24.
  • S22 it is determined whether the BM pressure which is the bottom pressure of the hydraulic cylinder 5D is higher than the ACC pressure which is the pressure of the accumulator 29 (BM pressure> ACC pressure). If “YES” is determined in S22, that is, if it is determined that the BM pressure is higher than the ACC pressure, the process proceeds to S23. On the other hand, if "NO” is determined in S22, that is, if it is determined that the BM pressure is equal to or less than the ACC pressure, the process proceeds to S26.
  • the recovery supply control valve 51 is set to the switching position (H), and the unload valve 27 is set to the closed position. That is, the controller 62 outputs a command to the solenoid proportional valve 54 and controls the unloading valve 27 to close without sending a switching signal so that the recovery supply control valve 51 is at the switching position (H).
  • the pressure oil in the bottom side oil chamber 5D4 of the hydraulic cylinder 5D is supplied (accumulated) to the accumulator 29.
  • S25 it is determined whether the ACC pressure is higher than the BM pressure (ACC pressure> BM pressure). If “YES” is determined in S25, that is, if it is determined that the ACC pressure is higher than the BM pressure, the process proceeds to S23. On the other hand, if "NO” is determined in S22, that is, if it is determined that the ACC pressure is equal to or less than the BM pressure, the process proceeds to S26.
  • the reason why the ACC pressure and the BM pressure are compared in S25 is that the bottom side oil chamber 5D4 of the hydraulic cylinder 5D is assumed to be the switching position (H) when the ACC pressure is lower than the BM pressure. This is because there is a possibility that the extension speed of the hydraulic cylinder 5D may decrease or the hydraulic cylinder 5D may contract due to the pressure oil flowing backward from the side to the accumulator 29 side. That is, in order to realize the operation desired by the operator, the ACC pressure and the BM pressure are compared, and when the ACC pressure is lower than the BM pressure, the recovery supply control valve 51 is not brought to the switching position (H), S26. Go to
  • S26 it is determined whether the pressure oil of the accumulator 29 is to be supplied to the pilot hydraulic circuit 11B (pilot discharge line 21). That is, at S26, as in S1 of FIG. 3 of the first embodiment, it is determined whether the ACC pressure is higher than the set pressure 1 (ACC pressure> set pressure 1). If “YES” is determined in S26, that is, if it is determined that the ACC pressure is higher than the set pressure 1, then the process proceeds to S27. If "NO” is determined in S26, that is, if it is determined that the ACC pressure is less than or equal to the set pressure 1, then the process proceeds to S28.
  • the recovery supply control valve 51 is set to the neutral position (G), and the unload valve 27 is set to the closed position. That is, the controller 62 outputs a command to the solenoid proportional valves 54 and 55 (does not output a current signal) so that the recovery supply control valve 51 is in the neutral position (G). Further, the unloading valve 27 is controlled to be closed without sending a switching signal.
  • the reason why the ACC pressure and the set pressure 1 are compared in S26 is that if the pressure oil of the accumulator 29 is returned to the pilot hydraulic circuit 11B (pilot discharge line 21) despite the high ACC pressure, the recovery supply control This is because the pressure loss at the valve 51 is large, and energy may not be effectively used.
  • the process proceeds to S27, and the electromagnetic supply is controlled so that the recovery supply control valve 51 becomes the fully closed (cutoff) neutral position (G).
  • the command is output to the valves 54 and 55 (no current signal is output).
  • the ACC pressure is low, that is, if the set pressure is 1 or less, the process proceeds to S28.
  • S28 it is determined whether the ACC pressure is higher than the set pressure 2 (ACC pressure> set pressure 2). If it is determined "YES" in S28, the process proceeds to S29.
  • the recovery supply control valve 51 is set to the switching position (I), and the unload valve 27 is set to the open position. That is, the controller 62 outputs a command to the solenoid proportional valve 55 so that the recovery supply control valve 51 is at the switching position (I), sends a switching signal to the unload valve 27, and opens the unload valve 27. .
  • the pressure oil of the pilot hydraulic pump 20 is unloaded via the unload valve 27, whereby the output of the pilot hydraulic pump 20 can be suppressed, and the fuel consumption of the engine 12 can be reduced. Furthermore, when the lever operating device 23 is operated (when pressure oil is required in the pilot line), pressure oil is supplied from the accumulator 29 to the lever operating device 23 via the recovery supply control valve 51. Therefore, in the lever operating device 23, the pilot pressure (secondary pressure) is supplied from the pilot valve to the direction control valve 22 in conjunction with the lever. As a result, the switching position of the directional control valve 22 is switched to enable the operation desired by the operator.
  • the process proceeds to S30.
  • the recovery supply control valve 51 is set to the switching position (I), and the unload valve 27 is set to the closed position. That is, the controller 62 outputs a command to the solenoid proportional valve 55 and controls the unload valve 27 to close without sending a switching signal so that the recovery supply control valve 51 is at the switching position (I).
  • the pressure oil of the pilot hydraulic pump 20 is supplied to the accumulator 29 through the check valve 28 and the recovery supply control valve 51.
  • the pressure oil of the pilot hydraulic pump 20 is supplied to the lever operating device 23. Thereby, the pressure oil required for the lever operating device 23 can be secured, and the accumulator 29 can be charged (charged).
  • the recovery supply control valve 51 is controlled by the controller 62 as described above through the solenoid proportional valves 54 and 55, and the basic operation is described in the first and second embodiments described above. There is no particular difference from the one according to the embodiment.
  • the recovery supply control valve 51 as a second direction control valve is provided. Therefore, the pressure oil discharged from the hydraulic cylinder 5D (hydraulic actuator) is recovered to the accumulator 29 by switching the recovery supply control valve 51 to the switching position (H) corresponding to the third connection position; The pressure oil of 29 can be supplied to the high pressure main hydraulic circuit 11A (bottom side conduit 17). Also, by switching the recovery supply control valve 51 to the switching position (I) corresponding to the fourth connection position, the pressure oil of the accumulator 29 can be supplied to the low pressure pilot hydraulic circuit 11B (pilot discharge pipeline 21). it can.
  • the pressure oil collected from the hydraulic cylinder 5D is returned to the hydraulic cylinder 5D, which is the same actuator. That is, the hydraulic actuator to be collected and the hydraulic actuator to be supplied are the same. Therefore, the circuit can be simplified.
  • one control valve (the recovery supply control valve 51) and the pilot pressure It can be constituted by two small solenoid valves (electromagnetic proportional valves 54, 55) to be adjusted. Thereby, simplification of a circuit and size reduction of hydraulic equipment and piping can be achieved.
  • the recovery feed control valve 51 is driven by a hydraulic pilot, that is, the combination of the recovery feed control valve 51 and the solenoid proportional valves 54 and 55 is described as an example. did.
  • the invention is not limited to this.
  • the recovery supply control valve 51 may be configured by an electromagnetic pilot directional control valve that directly electrically drives the system instead of the pilot type. In this case, the circuit can be further simplified and simplified.
  • FIGS. 8 and 9 show a fourth embodiment.
  • a feature of the fourth embodiment is that the unload valve and the check valve are omitted, and the pilot hydraulic pump is configured by a variable displacement pilot hydraulic pump which doubles as a pilot flow rate reduction device.
  • the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
  • the pilot hydraulic pump 20 is a fixed displacement hydraulic pump, and the unload valve 27 and the check valve 28 as a pilot flow rate reduction device in the pilot hydraulic circuit 11B (pilot discharge line 21). Is provided.
  • the unload valve 27 and the check valve 28 are omitted, and the pilot hydraulic pump 71 is, for example, a variable displacement pilot hydraulic pump such as a variable displacement swash plate hydraulic pump.
  • the pilot flow rate reduction device is configured by a pilot hydraulic pump 71. That is, the pilot hydraulic pump 71 doubles as a pilot flow rate reduction device.
  • the pilot hydraulic pump 71 has a regulator (capacity variable portion, tilting actuator) 71A for adjusting the discharge flow rate (pump volume).
  • the regulator 71A is variably controlled by the controller 72.
  • the controller 72 has an input side connected to the pressure accumulation side pressure sensor 38 and the operation detection sensor 23A.
  • the output side of the controller 72 is connected to the main supply control valve 34, the pilot supply control valve 37, and (a regulator 71A of) the pilot hydraulic pump 71.
  • the controller 72 performs the main operation according to the pressure (ACC pressure) of the accumulator 29 detected by the pressure accumulation side pressure sensor 38 and the presence / absence of operation of the lever operating device 23 (operation lever signal) detected by the operation detection sensor 23A.
  • the opening and closing of the supply control valve 34, the opening and closing of the pilot supply control valve 37, and the discharge flow rate of the pilot hydraulic pump 71 are controlled.
  • the memory of the controller 72 stores a processing program for executing the processing flow shown in FIG.
  • the main supply control valve 34, the pilot supply control valve 37, and the pilot hydraulic pump 71 are controlled by the controller 72 as described above, and the basic operation is as described above. There is no particular difference from the one according to the embodiment of.
  • the pilot hydraulic pump 71 is a variable displacement hydraulic pump. Therefore, when the pressure oil of the accumulator 29 is supplied to the low pressure pilot hydraulic circuit 11B (pilot discharge line 21), the pressure oil stored in the accumulator 29 is reduced by reducing the discharge flow rate of the pilot hydraulic pump 71. (Energy) can be used efficiently. That is, in the fourth embodiment, not the configuration using the unload valve 27 as in the first embodiment but a variable displacement hydraulic pump capable of directly reducing the pump flow rate of the pilot hydraulic pump 71. And Therefore, the number of valves (switching valves) can be reduced, and the configuration can be simplified.
  • FIGS. 10 and 11 show a fifth embodiment.
  • a feature of the fifth embodiment is that a third pressure detection device for detecting the pressure of the pilot hydraulic circuit is provided.
  • the same components as those in the second embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
  • the pilot pressure sensor 81 is provided in the middle of the pilot regenerative pipeline 36. More specifically, pilot side pressure sensor 81 is provided between a connection portion of pilot regeneration pipe 36 with pilot discharge pipe 21 and supply control valve 41.
  • the pilot pressure sensor 81 detects the pressure of the pilot hydraulic circuit 11B (pilot discharge line 21), more specifically, the pressure on the downstream side of the check valve 28 in the pilot discharge line 21, and This is a third pressure detection device that outputs the detected pressure signal to the controller 82.
  • the pilot pressure sensor 81 is connected to the controller 82.
  • the pilot pressure sensor 81 outputs a signal corresponding to the detected pressure, that is, the pilot pressure (primary pressure) supplied to the lever operating device 23 to the controller 82.
  • the input side of the controller 82 is connected to the pressure accumulation side pressure sensor 38, the pilot side pressure sensor 81, and the operation detection sensor 23A.
  • the output side of the controller 82 is connected to the solenoid proportional valve 42 and the unload valve 27.
  • the controller 82 controls the pressure of the accumulator 29 detected by the pressure accumulation side pressure sensor 38 and the pressure of the pilot discharge line 21 detected by the pilot side pressure sensor 81 (ie, the lever operating device 23). Control the unloading valve 27 in accordance with the pilot pressure supplied to the
  • the controller 82 is configured such that the pressure of the accumulator 29 is lower than a first set pressure (set pressure 1) set in advance, and the pressure of the pilot hydraulic circuit 11B (pilot discharge line 21) is second.
  • set pressure 2 the pressure of the pilot hydraulic circuit 11B
  • the unload valve 27 is controlled (opened) so as to reduce the flow rate from the pilot hydraulic pump 20 to the pilot hydraulic circuit 11B. That is, while the pressure (ACC pressure) of the accumulator 29 is compared with the set pressure 2 in the first and second embodiments described above, in the fifth embodiment, the pilot hydraulic circuit 11B is used.
  • the pressure (pilot pressure) on the downstream side of the pilot discharge pipe line 21 with respect to the check valve 28 and the set pressure 2 are compared.
  • the set pressure 1 and the set pressure 2 are the same as the set pressure 1 and the set pressure 2 in the first and second embodiments.
  • a processing program for executing the processing flow shown in FIG. 11 is stored.
  • control processing of the controller 82 will be described with reference to FIG.
  • the flow chart of FIG. 11 is the same as the flow chart of FIG. 5 of the above-described second embodiment except for S41, so the processing of S41 will be described.
  • the unload valve 27 is controlled using the pressure (pilot pressure) detected by the pilot side pressure sensor 81 by the controller 82 as described above, and the basic operation is described above. There is no particular difference from the one according to the second embodiment.
  • the pressure (ACC pressure) of the accumulator 29 is lower than the first set pressure (set pressure 1), and the pilot hydraulic circuit 11B (checks out of the pilot discharge pipeline 21
  • the pressure (pilot pressure) downstream of the valve 28 is higher than the second set pressure (set pressure 2)
  • the output of the pilot hydraulic pump 20 can be reduced.
  • the consumption of the power (fuel) of the drive source (for example, the engine 12) of the pilot hydraulic pump 20 can be reduced.
  • the second set pressure (set pressure 2) is set as a pressure required for the pilot hydraulic circuit 11B (a pressure required for the lever operating device 23), but in the second embodiment, for example, Since the pressure (ACC pressure) of the accumulator 29 is compared with the second set pressure (set pressure 2), a pressure loss deviation of the supply control valve 41 may occur.
  • the pressure of the pilot hydraulic circuit 11B (downstream of the check valve 28 in the pilot discharge pipe line 21) by the pilot pressure sensor 81 is directly compared. The determination of the opening and closing of the load valve 27 can be made with high accuracy. As a result, the pressure of the pilot hydraulic circuit 11B (the pressure to be supplied to the lever operating device 23) can be secured more accurately.
  • FIG. 12 shows a sixth embodiment.
  • a feature of the sixth embodiment is that the pressure oil of the pressure accumulator is supplied to the pilot hydraulic circuit even when the pressure of the pressure accumulator is higher than the first set pressure and a predetermined time has elapsed.
  • the same components as those in the second embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
  • the controller 44 even when the pressure of the accumulator 29 is higher than the first set pressure (set pressure 1) set in advance, the controller 44 (see FIG. 4) stores the accumulator 29 when the predetermined time has elapsed.
  • the supply control valve 41 is controlled to supply the pressure oil to the pilot hydraulic circuit 11B (downstream of the check valve 28 in the pilot discharge line 21). That is, even when the pressure of the accumulator 29 is higher than the set pressure 1, the controller 44 gradually switches the supply control valve 41 as the pilot circuit supply device to the switching position (F) when the predetermined time has elapsed.
  • the memory of the controller 44 stores a processing program for executing the processing flow shown in FIG.
  • control processing of the controller 44 will be described with reference to FIG.
  • the flow chart of FIG. 12 is obtained by adding S51 and S52 to the flow chart of FIG. 5 of the second embodiment described above, so the processing of S51 and S52 will be described.
  • S51 it is determined whether or not a predetermined time has elapsed since the determination of "NO” in S12. That is, in S51, it is determined whether the time repeatedly determined as "NO” in S12 (repetition continuation time) exceeds a predetermined time.
  • the predetermined time is a determination time for determining the start of the pressure decrease of the accumulator 29. The predetermined time is set in advance by experiment, calculation, simulation or the like, for example, so that the pressure oil of the accumulator 29 can be effectively used even when the lever operating device 23 is not operated for a long time.
  • the process proceeds to S52, and the accumulator 29 is connected to the pilot hydraulic circuit 11B.
  • the flow rate of the pilot hydraulic pump 20 is assisted.
  • the unload valve 27 is opened to reduce the load on the pilot hydraulic pump 20.
  • the fuel consumption of the engine 12 can be reduced.
  • the pressure of the accumulator 29 falls by this process, it progresses from S11 to S15, and the accumulator 29 is always connected with the pilot hydraulic circuit 11B.
  • the pilot control hydraulic circuit 11B is appropriately opened with respect to the pressure oil of the high pressure accumulator 29 by gradually opening the supply control valve 41, that is, gradually switching to the switching position (F). Connect with Thus, the pressure in the pilot hydraulic circuit 11B can be prevented from excessively increasing.
  • the control process shown in FIG. 12 as described above is performed by the controller 44, and the basic operation is not particularly different from that of the second embodiment described above.
  • the pressure oil of the accumulator 29 is supplied to the pilot hydraulic circuit 11B when a predetermined time (a predetermined time) elapses. Be done. Therefore, the pressure oil (energy) of the accumulator 29 can be effectively used.
  • FIGS. 13 to 15 show a seventh embodiment.
  • the feature of the seventh embodiment is that the variable displacement main hydraulic pump is controlled according to the pressure of the pressure accumulator and the pressure of the main hydraulic circuit (ie, when the pressure oil of the pressure accumulator is supplied to the main hydraulic circuit side) To reduce the flow rate of the main hydraulic pump).
  • the same components as those in the second embodiment described above are designated by the same reference numerals, and the description thereof will be omitted.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Dans la présente invention, un circuit hydraulique (11) dans une pelle hydraulique (1) comprend : un circuit hydraulique principal (11A) qui comprend un vérin de flèche (5D) ; un circuit hydraulique pilote (11B) permettant d'actionner le vérin de flèche (5D) ; et un circuit de récupération d'huile (11A) qui comprend un accumulateur (29). Dans ce cas, le circuit de récupération d'huile (11C) comprend : une soupape de commande de récupération (31) permettant de renvoyer, à l'accumulateur (29), de l'huile sous pression évacuée du vérin de flèche (5D) ; une soupape de commande d'alimentation principale (34) permettant de fournir de l'huile sous pression qui s'est accumulée dans l'accumulateur (29) au circuit hydraulique principal (11A) ; et une soupape de commande d'alimentation pilote (37) permettant de fournir de l'huile sous pression qui s'est accumulée dans l'accumulateur (29) au circuit hydraulique pilote (11B).
PCT/JP2018/019334 2017-09-11 2018-05-18 Machine de construction WO2019049435A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP18853247.7A EP3578830B1 (fr) 2017-09-11 2018-05-18 Machine de construction
CN201880015157.8A CN110352304B (zh) 2017-09-11 2018-05-18 工程机械
US16/491,264 US10995475B2 (en) 2017-09-11 2018-05-18 Construction machine
KR1020197025626A KR102258694B1 (ko) 2017-09-11 2018-05-18 건설 기계

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JP2017174062A JP6785203B2 (ja) 2017-09-11 2017-09-11 建設機械
JP2017-174062 2017-09-11

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WO (1) WO2019049435A1 (fr)

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JP7324370B2 (ja) * 2020-06-17 2023-08-09 日立建機株式会社 建設機械
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JP7322829B2 (ja) * 2020-07-16 2023-08-08 株式会社豊田自動織機 産業車両の油圧制御装置
IT202000027561A1 (it) * 2020-11-17 2022-05-17 Walvoil Spa Circuito idraulico con funzione combinata di compensazione e recupero energetico
CN112664488A (zh) * 2020-12-31 2021-04-16 徐州徐工挖掘机械有限公司 工程机械的液压系统和工程机械
JP7550671B2 (ja) 2021-02-12 2024-09-13 川崎重工業株式会社 液圧駆動システム
EP4317706A4 (fr) 2021-03-31 2025-03-12 Eagle Ind Co Ltd Circuit de fluide
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JP2019049321A (ja) 2019-03-28
KR102258694B1 (ko) 2021-06-01
EP3578830A4 (fr) 2020-12-23
CN110352304B (zh) 2021-01-08
US10995475B2 (en) 2021-05-04
JP6785203B2 (ja) 2020-11-18
EP3578830A1 (fr) 2019-12-11
CN110352304A (zh) 2019-10-18
EP3578830B1 (fr) 2022-09-07
US20200032485A1 (en) 2020-01-30
KR20190113891A (ko) 2019-10-08

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